Based On The Design And Application Of The Rotary Shaft Motion Controller In The Dsp

KDMC300-S, a 3 axes motion controller using DSP(ADSP2181) and CPLD to construct the core hardware, is discussed in this thesis. With the high speed DSP chipset, servo interval can be greatly decreased. Moreover, more complicated motion trajectory planning and advanced control algorithms can be implemented. The hardware design based on CPLD provides a highly integrated controller with good extensibility, and makes it convenient to develop and modify the internal structure of the controller.KDMC300-S has several special characteristics as follows: 1) supporting three kinds of buses: PC ISA bus, PC104 bus and RS-232 bus; 2) possessing 20 keys and 24 LEDs, which makes it can work independently without a host PC; 3) 3 home switch signal inputs and 6 limit switch signal inputs; 4) 3 simulation signal inputs.Based on the numerical PID control algorithm, all of the following advanced control algorithms are implemented on KDMC300-S: 1) integral split control used to decrease the side-effect of the integral control; 2) look ahead control and incomplete differential control used to decrease the side-effect of the differential control; 3) dead band control used to enhance or weaken the control frequency; 4) velocity and acceleration feed forward control used to enhance the tracking precision; 5) optional closed loop velocity control; 6) the ability of planning and compensation of amplitude in the rocking motion.Based on the simulation and experiments, a tuning approach is given which proposes more direct guidance for engineers. We developed a dynamic linked library (dll) for the motion control functions and it shares the characteristics of wide acceptance and good flexibility. Software is also developed to monitor the status and modes of the controller. Its graphic display of the motion position errors and velocity errors makes it easy to debug and monitor the control system using KDMC300-S.